The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Pedestrian Gait Estimation and Localization using an Accelerometer

가속도 센서를 이용한 보행 정보 및 보행자 위치 추정

  • 김희승 (홍익대학교 과학기술연구소) ;
  • 이수용 (홍익대학교 기계시스템디자인공학과)
  • Received : 2010.05.27
  • Accepted : 2010.08.26
  • Published : 2010.11.30
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Abstract

This paper presents the use of 3 axis accelerometer for getting the gait information including the number of gaits, stride and walking distance. Travel distance is usually calculated from the double integration of the accelerometer output with respect to time; however, the accumulated errors due to the drift are inevitable. The orientation change of the accelerometer also causes error because the gravity is added to the measured acceleration. Unless three axis orientations are completely identified, the accelerometer alone does not provide correct acceleration for estimating the travel distance. We proposed a way of minimizing the error due to the change of the orientation. Pedestrian localization is implemented with the heading angle and the travel distance. Heading angle is estimated from the rate gyro and the magnetic compass measurements. The performance of the localization is presented with experimental data.

Keywords

References

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